/********************************************************************************
 * Copyright 2015 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIMLIBS_BULLET_BTVELOCITYDEVICE_HPP_
#define RWSIMLIBS_BULLET_BTVELOCITYDEVICE_HPP_

/**
 * @file BtVelocityDevice.hpp
 *
 * \copydoc rwsimlibs::bullet::BtVelocityDevice
 */

#include "BtDevice.hpp"

#include <rw/core/Ptr.hpp>

#include <vector>

namespace rwsim { namespace dynamics {
    class RigidDevice;
}}    // namespace rwsim::dynamics

class btTypedConstraint;

namespace rwsimlibs { namespace bullet {
    //! @addtogroup rwsimlibs_bullet

    //! @{
    /**
     * @brief A velocity device.
     */
    class BtVelocityDevice : public BtDevice
    {
      public:
        //! @brief Constructor.
        BtVelocityDevice (rw::core::Ptr< rwsim::dynamics::RigidDevice > rdev,
                          const std::vector< btTypedConstraint* >& constraints);

        //! @brief Destructor.
        virtual ~BtVelocityDevice ();

        //! @brief @copydoc BtDevice::update
        virtual void update (double dt, rw::kinematics::State& state);

        //! @brief @copydoc BtDevice::postUpdate
        virtual void postUpdate (rw::kinematics::State& state);

      private:
        const rw::core::Ptr< rwsim::dynamics::RigidDevice > _rdev;
        const std::vector< btTypedConstraint* > _constraints;
    };
    //! @}
}}     // namespace rwsimlibs::bullet
#endif /* RWSIMLIBS_BULLET_BTVELOCITYDEVICE_HPP_ */
